Copied in-situ modifications from ics1-quokka.

site_ansto/instrument/sans/config/velsel/sct_velsel.tcl

@@ -208,7 +208,8 @@ proc rdPwdAck {} {
     set speedvar [expr 0.2*$rspeed/100]
     if {[hval $root/status] == "busy"} {
       set target [hgetpropval $root/setspeed target]
-      if {$rspeed != $target} {
+# rspeed doesn't always match the speed you sent, eg If you send 15922 the velsel says it got 15923
+      if {[expr abs($rspeed - $target)] > 1} {
         hset $root/device_error "Resending target speed $target"
         hset $root/setspeed $target"
         return idle
@@ -459,7 +460,7 @@ proc halt {root} {
     set fmtspeed [format "%5d" $speed] 
     sct send "N#SOS#SPEED $fmtspeed"
     sct target $lambda
-    hsetprop $vs_root/setspeed target $speed
+    hsetprop $vs_root/setspeed target $fmtspeed
     hset $vs_root/status "busy"
     statemon start nvs_speed
     statemon start nvs_lambda